Systems and methods for flexible computer-assisted instrument control

ABSTRACT

A medical system includes a flexible elongate instrument and a control system. The flexible elongate instrument includes a plurality of wires useable to control articulation of the flexible elongate instrument. The control system is configured to monitor movement of the flexible elongate instrument, determine an extent of motion of the flexible elongate instrument based on the monitoring, and determine a mode of operation for the flexible elongate instrument from a plurality of modes of operation based on the monitoring. The plurality of modes of operation includes a retraction mode, an insertion mode, and a parking mode. The control system is further configured to, in response to a change in the mode of operation, alter a rigidity of the flexible elongate instrument with a rate of rigidity change that is based on the extent of motion using one or more of the plurality of wires.

RELATED APPLICATIONS

This patent application claims priority to and the benefit of the filingdate of U.S. Provisional Patent Application 62/357,555, entitled“SYSTEMS AND METHODS FOR FLEXIBLE COMPUTER-ASSISTED INSTRUMENT CONTROL,”filed Jul. 1, 2016 which is incorporated by reference herein in itsentirety.

FIELD

The present disclosure is directed to systems and methods forcomputer-assisted medical procedures, and more particularly to systemsand methods for controlling a flexible elongate instrument.

BACKGROUND

Minimally invasive medical techniques are intended to reduce the amountof tissue that is damaged during medical procedures, thereby reducingpatient recovery time, discomfort, and harmful side effects. Suchminimally invasive techniques may be performed through natural orificesin a patient anatomy or through one or more surgical incisions. Throughthese natural orifices or incisions physicians may insert minimallyinvasive medical instruments (including surgical, diagnostic,therapeutic, or biopsy instruments) to reach a tissue location. Toassist with reaching the target location, the location and movement ofthe medical instruments may be correlated with pre-operative orintra-operative images of the patient anatomy. With the image-guidedinstruments correlated to the images, the instruments may navigatenatural or surgically created passageways in anatomic systems such asthe intestines, the kidneys, the brain, the heart, the circulatorysystem, lungs, urethras, arteries, umbilical lines, and/or the like.Medical tools are needed that are flexible enough to safely navigate thetight beds of the anatomic passageways while providing sufficientrigidity to ensure a predictable performance direction when deployedfrom a delivery catheter toward the target tissue.

SUMMARY

The embodiments of the invention are best summarized by the claims thatfollow the description. Consistent with some embodiments, acomputer-assisted medical system comprises a flexible elongateinstrument. The flexible elongate instrument comprises a plurality ofwires extending from a proximal end of the flexible elongate instrumentto a distal end of the flexible elongate instrument. Each wire of theplurality of wires may be used to steer the distal end. The system alsocomprises a control system coupled to the flexible elongate instrument.The control system is configured to monitor movement of the flexibleelongate instrument along a longitudinal central axis and determine anextent of motion of the flexible elongate instrument in a firstdirection along the longitudinal central axis based on the monitoring.The control system is also configured to alter a rigidity of theflexible elongate instrument based on a rigidity profile relative to theextent of motion by adjusting one or more forces applied by theplurality of wires to the distal end of the flexible elongateinstrument.

Consistent with some embodiments, a method of controlling a medicaldevice, comprises monitoring commanded movement of a flexible elongateinstrument. The flexible elongate instrument comprises a plurality ofwires extending from a proximal end of the flexible elongate instrumentto a distal end of the flexible elongate instrument. Each of theplurality of wires may be used to steer the distal end of the flexibleelongate instrument. The commanded movement is provided through an inputdevice. The method also comprises determining an extent of a commandedmotion of the flexible elongate instrument based on the monitoring andaltering a rigidity of the flexible elongate instrument based on arigidity profile relative to the extent of the motion by adjusting oneor more forces applied by each of the plurality of wires to the distalend of the flexible elongate instrument.

Consistent with some embodiments, a non-transitory machine-readablemedium comprises a plurality of machine-readable instructions which,when executed by one or more processors associated with a flexibleelongate instrument, are adapted to cause the one or more processors toperform a method. The method comprises monitoring movement of theflexible elongate instrument. The flexible elongate instrument comprisesa plurality of wires extending from a proximal end of the flexibleelongate instrument to a distal end of the flexible elongate instrument.Each of the plurality of wires may be used to steer the distal end ofthe flexible elongate instrument. The method also comprises determiningan extent of a motion of the flexible elongate instrument based on themonitoring and altering a rigidity of the flexible elongate instrumentbased on a rigidity profile relative to the extent of the motion byadjusting one or more forces applied by each of the plurality of wiresto the distal end of the flexible elongate instrument.

Consistent with some embodiments, a computer-assisted medical systemcomprises a flexible elongate instrument comprising a plurality of wiresextending from a proximal end of the flexible elongate instrument to adistal end of the flexible elongate instrument. Each wire of theplurality of wires may be used to steer the distal end. The system alsocomprises a control system coupled to the flexible elongate instrument.The control system is configured to monitor movement of the flexibleelongate instrument and determine a mode of operation for the flexibleelongate instrument. The mode of operation corresponds to one of aretraction mode, an insertion mode, and a parking mode. In response to adetermination that the mode of operation is the retraction mode, thecontrol system is configured to determine an extent of a retraction ofthe flexible elongate instrument based on the monitoring and reduce arigidity of the flexible elongate instrument based on the extent of theretraction by adjusting one or more forces applied by the plurality ofwires to the distal end of the flexible elongate instrument. In responseto a determination that the mode of operation is the insertion mode, thecontrol system is configured to determine an extent of a insertion ofthe flexible elongate instrument based on the monitoring. The controlsystem is also configured to increase the rigidity of the flexibleelongate instrument based on the extent of the insertion by adjustingthe one or more forces applied by the plurality of wires to the distalend of the flexible elongate instrument. In response to a determinationthat the mode of operation is the parking mode, the control system isconfigured to determine an extent of a parking of the flexible elongateinstrument based on the monitoring and increase or decrease the rigidityof the flexible elongate instrument based on the extent of the parkingby adjusting the one or more forces applied by the plurality of wires tothe distal end of the flexible elongate instrument.

BRIEF DESCRIPTIONS OF THE DRAWINGS

FIG. 1 is an exemplary teleoperated medical system.

FIG. 2A is an exemplary medical instrument system.

FIG. 2B is an exemplary distal end of a flexible elongate instrument.

FIG. 3 is an exemplary actuator.

FIGS. 4A and 4B illustrate side views of a patient coordinate spaceincluding a medical instrument mounted on an insertion assembly.

FIGS. 5A and 5B are exemplary rigidity profiles for a flexible elongateinstrument.

FIG. 6 is a flowchart illustrating an exemplary method for controlling aflexible body.

FIG. 7 illustrates a rigidity multiplier profile applied during anexemplary application of the method of FIG. 6 shown in relation to aretraction distance.

FIGS. 9-10 illustrates sub-mode rigidity profiles.

Embodiments of the present disclosure and their advantages are bestunderstood by referring to the detailed description that follows. Itshould be appreciated that like reference numerals are used to identifylike elements illustrated in one or more of the figures, whereinshowings therein are for purposes of illustrating embodiments of thepresent disclosure and not for purposes of limiting the same.

DETAILED DESCRIPTION

In the following description, specific details are set forth describingsome embodiments consistent with the present disclosure. Numerousspecific details are set forth in order to provide a thoroughunderstanding of the embodiments. It will be apparent, however, to oneskilled in the art that some embodiments may be practiced without someor all of these specific details. The specific embodiments disclosedherein are meant to be illustrative but not limiting. One skilled in theart may realize other elements that, although not specifically describedhere, are within the scope and the spirit of this disclosure. Inaddition, to avoid unnecessary repetition, one or more features shownand described in association with one embodiment may be incorporatedinto other embodiments unless specifically described otherwise or if theone or more features would make an embodiment non-functional. In someinstances, well known methods, procedures, components, and circuits havenot been described in detail so as not to unnecessarily obscure aspectsof the embodiments.

This disclosure describes various instruments and portions ofinstruments in terms of their state in three-dimensional space. As usedherein, the term “position” refers to the location of an object or aportion of an object in a three-dimensional space (e.g., three degreesof translational freedom along Cartesian x-, y-, and z-coordinates). Asused herein, the term “orientation” refers to the rotational placementof an object or a portion of an object (three degrees of rotationalfreedom—e.g., roll, pitch, and yaw). As used herein, the term “pose”refers to the position of an object or a portion of an object in atleast one degree of translational freedom and to the orientation of thatobject or portion of the object in at least one degree of rotationalfreedom (up to six total degrees of freedom). As used herein, the term“shape” refers to a set of poses, positions, or orientations measuredalong an object. Components described as “coupled” may be electricallyor mechanically directly coupled, or they may be indirectly coupled viaone or more intermediate components.

Long, flexible devices, such as catheters, have a small cross sectionthat include one or more hollow openings along their length and aredesirable for inserting medical instruments and/or devices into narrowpassageways of a patient, such as airways in lungs and/or the like.Steering the leading or distal end of a catheter through passagewaysmakes it easier to control which passageways the catheter enters.

One possible way of steering the leading end of these catheters is byactuators pushing and/or pulling a series of wires that run along thelong, flexible device. Using these wires, an operator and/or anautomated system is able to pull and/or push harder on one side of theleading end relative to another so as bend the leading end in a desireddirection relative to the rest of the device.

In addition to steering the leading end, pushing and/or pulling thewires harder also affects how rigid or stiff the leading end becomes.This is not generally a problem when the bend in the leading end alignswith the passageway in which the leading end is inserted, but this maynot be the case when the leading end is further inserted into and/orretracted from the passageways without aligning it with the currentpassageway. For example, the leading end could be bent over into a“hook” shape to insert the leading end around a curve in thepassageways, but when the leading end is later retracted, this “hook”may prevent the leading end from being negotiated through a straighterand/or differently curved region of the passageways. One way ofaccounting for the possibility of hooking is to reverse the steeringused to insert the leading end when the leading end is later retracted.Another approach is to reduce the rigidity of the leading end so that asit is retracted, it can more easily adjust its shape based on thecurrent passageway. The rigidity of the leading end may be adjusted bychanging the amount of force applied by the wires used to steer theleading end. For example, to reduce the rigidity, the amount of forceapplied to the wires is reduced accordingly. The amount of force appliedby the wires may be controlled using motors and/or actuators that canpush and/or pull on the wires. Consequently, the rigidity can beadjusted by altering a force and/or a torque applied by themotors/actuators to control the pushing and/or pulling of one or more ofthe wires in the catheter. A controlled reduction in the rigidity mayreduce the likelihood of disorientation of an operator controllingmovement of the catheter. Adjustment of rigidity may proceed accordingto a predefined plan or profile of how quickly the rigidity is adjusted.A rigidity profile may have different zones of behavior for the rigidityof the catheter; for example, the rigidity may be decreased faster inone zone than in other zones.

During the insertion mode, it may be desirable to increase the rigidityso that the catheter can be steered as it is moving forward inside thepatient passageway. The rigidity may be increased to a maximum allowablerigidity for the catheter.

When the catheter is not moving much, the rigidity can be adjusted tohigher or lower levels. Rigidity may be increased when the catheter isnot moving much in order to provide stability to an instrument beingdeployed through the catheter while a procedure is being performed.

FIG. 1 is a simplified diagram of a teleoperated medical system 100according to some embodiments. In some embodiments, teleoperated medicalsystem 100 may be suitable for use in, for example, surgical,diagnostic, therapeutic, or biopsy procedures. As shown in FIG. 1,medical system 100 generally includes a teleoperational manipulatorassembly 102 for operating a medical instrument 104 in performingvarious procedures on a patient P. Teleoperational manipulator assembly102 is mounted to or near an operating table T. A master assembly 106allows an operator (e.g., a surgeon, a clinician, or a physician O asillustrated in FIG. 1) to view the interventional site and to controlteleoperational manipulator assembly 102.

Master assembly 106 may be located at a surgeon's console which isusually located in the same room as operating table T, such as at theside of a surgical table on which patient P is located. However, itshould be understood that physician O can be located in a different roomor a completely different building from patient P. Master assembly 106generally includes one or more control devices for controllingteleoperational manipulator assembly 102. The control devices mayinclude any number of a variety of input devices, such as joysticks,trackballs, scroll wheels, data gloves, trigger-guns, hand-operatedcontrollers, voice recognition devices, body motion or presence sensors,and/or the like which may be operated by the physician O to provide acommanded motion. To provide physician O a strong sense of directlycontrolling instruments 104 the control devices may be provided with thesame degrees of freedom as the associated medical instrument 104. Inthis manner, the control devices provide physician O with telepresenceor the perception that the control devices are integral with medicalinstruments 104.

In some embodiments, the control devices may have more or fewer degreesof freedom than the associated medical instrument 104 and still providephysician O with telepresence. In some embodiments, the control devicesmay optionally be manual input devices which move with six degrees offreedom, and which may also include an actuatable handle for actuatinginstruments (for example, for closing grasping jaws, applying anelectrical potential to an electrode, delivering a medicinal treatment,and/or the like).

Teleoperational manipulator assembly 102 supports medical instrument 104and may include a kinematic structure of one or more non-servocontrolled links (e.g., one or more links that may be manuallypositioned and locked in place, generally referred to as a set-upstructure) and a teleoperational manipulator. Teleoperationalmanipulator assembly 102 may optionally include a plurality of actuatorsor motors that drive inputs on medical instrument 104 in response tocommands from the control system (e.g., a control system 112). Theactuators may optionally include drive systems that when coupled tomedical instrument 104 may advance medical instrument 104 into anaturally or surgically created anatomic orifice. Other drive systemsmay move the distal end of medical instrument 104 in multiple degrees offreedom, which may include three degrees of linear motion (e.g., linearmotion along the X, Y, Z Cartesian axes) and in three degrees ofrotational motion (e.g., rotation about the X, Y, Z Cartesian axes).Additionally, the actuators can be used to actuate an articulable endeffector of medical instrument 104 for grasping tissue in the jaws of abiopsy device and/or the like. Actuator position sensors such asresolvers, encoders, potentiometers, and other mechanisms may providesensor data to medical system 100 describing the rotation andorientation of the motor shafts. This position sensor data may be usedto determine motion of the objects manipulated by the actuators.

Teleoperated medical system 100 may include a sensor system 108 with oneor more sub-systems for receiving information about the instruments ofteleoperational manipulator assembly 102. Such sub-systems may include aposition/location sensor system (e.g., an electromagnetic (EM) sensorsystem); a shape sensor system for determining the position,orientation, speed, velocity, pose, and/or shape of a distal end and/orof one or more segments along a flexible body that may make up medicalinstrument 104; and/or a visualization system for capturing images fromthe distal end of medical instrument 104.

Teleoperated medical system 100 also includes a display system 110 fordisplaying an image or representation of the surgical site and medicalinstrument 104 generated by sub-systems of sensor system 108. Displaysystem 110 and master assembly 106 may be oriented so physician O cancontrol medical instrument 104 and master assembly 106 with theperception of telepresence.

In some embodiments, medical instrument 104 may have a visualizationsystem (discussed in more detail below), which may include a viewingscope assembly that records a concurrent or real-time image of asurgical site and provides the image to the operator or physician Othrough one or more displays of medical system 100, such as one or moredisplays of display system 110. The concurrent image may be, forexample, a two or three dimensional image captured by an endoscopepositioned within the surgical site. In some embodiments, thevisualization system includes endoscopic components that may beintegrally or removably coupled to medical instrument 104. However insome embodiments, a separate endoscope, attached to a separatemanipulator assembly may be used with medical instrument 104 to imagethe surgical site. In some examples, the endoscope may include one ormore mechanisms for cleaning one or more lenses of the endoscope whenthe one or more lenses become partially and/or fully obscured by fluidsand/or other materials encountered by the endoscope. In some examples,the one or more cleaning mechanisms may optionally include an air and/orother gas delivery system that is usable to emit a puff of air and/orother gasses to blow the one or more lenses clean. Examples of the oneor more cleaning mechanisms are discussed in more detail inInternational Publication No. WO/2016/025465 (filed Aug. 11, 2016)(disclosing “Systems and Methods for Cleaning an EndoscopicInstrument”), which is incorporated by reference herein in its entirety.The visualization system may be implemented as hardware, firmware,software or a combination thereof which interact with or are otherwiseexecuted by one or more computer processors, which may include theprocessors of a control system 112.

Display system 110 may also display an image of the surgical site andmedical instruments captured by the visualization system. In someexamples, teleoperated medical system 100 may configure medicalinstrument 104 and controls of master assembly 106 such that therelative positions of the medical instruments are similar to therelative positions of the eyes and hands of physician O. In this mannerphysician O can manipulate medical instrument 104 and the hand controlas if viewing the workspace in substantially true presence. By truepresence, it is meant that the presentation of an image is a trueperspective image simulating the viewpoint of a physician that isphysically manipulating medical instrument 104.

In some examples, display system 110 may present images of a surgicalsite recorded pre-operatively or intra-operatively using image data fromimaging technology such as, computed tomography (CT), magnetic resonanceimaging (MRI), fluoroscopy, thermography, ultrasound, optical coherencetomography (OCT), thermal imaging, impedance imaging, laser imaging,nanotube X-ray imaging, and/or the like. The pre-operative orintra-operative image data may be presented as two-dimensional,three-dimensional, or four-dimensional (including e.g., time based orvelocity based information) images and/or as images from models createdfrom the pre-operative or intra-operative image data sets.

In some embodiments, often for purposes of imaged guided surgicalprocedures, display system 110 may display a virtual navigational imagein which the actual location of medical instrument 104 is registered(i.e., dynamically referenced) with the preoperative or concurrentimages/model. This may be done to present the physician O with a virtualimage of the internal surgical site from a viewpoint of medicalinstrument 104. In some examples, the viewpoint may be from a tip ofmedical instrument 104. An image of the tip of medical instrument 104and/or other graphical or alphanumeric indicators may be superimposed onthe virtual image to assist physician O controlling medical instrument104. In some examples, medical instrument 104 may not be visible in thevirtual image.

In some embodiments, display system 110 may display a virtualnavigational image in which the actual location of medical instrument104 is registered with preoperative or concurrent images to present thephysician O with a virtual image of medical instrument 104 within thesurgical site from an external viewpoint. An image of a portion ofmedical instrument 104 or other graphical or alphanumeric indicators maybe superimposed on the virtual image to assist physician O in thecontrol of medical instrument 104. As described herein, visualrepresentations of data points may be rendered to display system 110.For example, measured data points, moved data points, registered datapoints, and other data points described herein may be displayed ondisplay system 110 in a visual representation. The data points may bevisually represented in a user interface by a plurality of points ordots on display system 110 or as a rendered model, such as a mesh orwire model created based on the set of data points. In some examples,the data points may be color coded according to the data they represent.In some embodiments, a visual representation may be refreshed in displaysystem 110 after each processing operation has been implemented to alterdata points.

Teleoperated medical system 100 may also include control system 112.Control system 112 includes at least one memory and at least onecomputer processor (not shown) for effecting control between medicalinstrument 104, master assembly 106, sensor system 108, and displaysystem 110. Control system 112 also includes programmed instructions(e.g., a non-transitory machine-readable medium storing theinstructions) to implement some or all of the methods described inaccordance with aspects disclosed herein, including instructions forproviding information to display system 110. While control system 112 isshown as a single block in the simplified schematic of FIG. 1, thesystem may include two or more data processing circuits with one portionof the processing optionally being performed on or adjacent toteleoperational manipulator assembly 102, another portion of theprocessing being performed at master assembly 106, and/or the like. Theprocessors of control system 112 may execute instructions comprisinginstruction corresponding to processes disclosed herein and described inmore detail below. Any of a wide variety of centralized or distributeddata processing architectures may be employed. Similarly, the programmedinstructions may be implemented as a number of separate programs orsubroutines, or they may be integrated into a number of other aspects ofthe teleoperational systems described herein. In one embodiment, controlsystem 112 supports wireless communication protocols such as Bluetooth,IrDA, HomeRF, IEEE 802.11, DECT, and Wireless Telemetry.

In some embodiments, control system 112 may receive force and/or torquefeedback from medical instrument 104. Responsive to the feedback,control system 112 may transmit signals to master assembly 106. In someexamples, control system 112 may transmit signals instructing one ormore actuators of teleoperational manipulator assembly 102 to movemedical instrument 104. Medical instrument 104 may extend into aninternal surgical site within the body of patient P via openings in thebody of patient P. Any suitable conventional and/or specializedactuators may be used. In some examples, the one or more actuators maybe separate from, or integrated with, teleoperational manipulatorassembly 102. In some embodiments, the one or more actuators andteleoperational manipulator assembly 102 are provided as part of ateleoperational cart positioned adjacent to patient P and operatingtable T.

Control system 112 may optionally further include a virtualvisualization system to provide navigation assistance to physician Owhen controlling medical instrument 104 during an image-guided surgicalprocedure. Virtual navigation using the virtual visualization system maybe based upon reference to an acquired preoperative or intraoperativedataset of anatomic passageways. The virtual visualization systemprocesses images of the surgical site imaged using imaging technologysuch as computerized tomography (CT), magnetic resonance imaging (MRI),fluoroscopy, thermography, ultrasound, optical coherence tomography(OCT), thermal imaging, impedance imaging, laser imaging, nanotube X-rayimaging, and/or the like. Software, which may be used in combinationwith manual inputs, is used to convert the recorded images intosegmented two dimensional or three dimensional composite representationof a partial or an entire anatomic organ or anatomic region. An imagedata set is associated with the composite representation. The compositerepresentation and the image data set describe the various locations andshapes of the passageways and their connectivity. The images used togenerate the composite representation may be recorded preoperatively orintra-operatively during a clinical procedure. In some embodiments, avirtual visualization system may use standard representations (i.e., notpatient specific) or hybrids of a standard representation and patientspecific data. The composite representation and any virtual imagesgenerated by the composite representation may represent the staticposture of a deformable anatomic region during one or more phases ofmotion (e.g., during an inspiration/expiration cycle of a lung).

During a virtual navigation procedure, sensor system 108 may be used tocompute an approximate location of medical instrument 104 with respectto the anatomy of patient P. The location can be used to produce bothmacro-level (external) tracking images of the anatomy of patient P andvirtual internal images of the anatomy of patient P. The system mayimplement one or more electromagnetic (EM) sensor, fiber optic sensors,and/or other sensors to register and display a medical implementtogether with preoperatively recorded surgical images, such as thosefrom a virtual visualization system, are known. For example U.S. patentapplication Ser. No. 13/107,562 (filed May 13, 2011) (disclosing“Medical System Providing Dynamic Registration of a Model of an AnatomicStructure for Image-Guided Surgery”) which is incorporated by referenceherein in its entirety, discloses one such system. Teleoperated medicalsystem 100 may further include optional operations and support systems(not shown) such as illumination systems, steering control systems,irrigation systems, and/or suction systems. In some embodiments,teleoperated medical system 100 may include more than oneteleoperational manipulator assembly and/or more than one masterassembly. The exact number of teleoperational manipulator assemblieswill depend on the surgical procedure and the space constraints withinthe operating room, among other factors. Master assembly 106 may becollocated or they may be positioned in separate locations. Multiplemaster assemblies allow more than one operator to control one or moreteleoperational manipulator assemblies in various combinations.

FIG. 2A is a simplified diagram of a medical instrument system 200according to some embodiments. In some embodiments, medical instrumentsystem 200 may be used as medical instrument 104 in an image-guidedmedical procedure performed with teleoperated medical system 100. Insome examples, medical instrument system 200 may be used fornon-teleoperational exploratory procedures or in procedures involvingtraditional manually operated medical instruments, such as endoscopy.Optionally medical instrument system 200 may be used to gather (i.e.,measure) a set of data points corresponding to locations within anatomicpassageways of a patient, such as patient P.

Medical instrument system 200 includes elongate device 202, such as aflexible catheter, coupled to a drive unit 204. Elongate device 202includes a flexible body 216 having proximal end 217 and distal end 218(or tip portion 218). In some embodiments, flexible body 216 has anapproximately 3 mm outer diameter. Other flexible body outer diametersmay be larger or smaller.

Medical instrument system 200 further includes a tracking system 230 fordetermining the position, orientation, speed, velocity, pose, and/orshape of distal end 218 and/or of one or more segments 224 alongflexible body 216 using one or more sensors and/or imaging devices asdescribed in further detail below. The entire length of flexible body216, between distal end 218 and proximal end 217, may be effectivelydivided into segments 224. If medical instrument system 200 isconsistent with medical instrument 104 of a teleoperated medical system100, tracking system 230. Tracking system 230 may optionally beimplemented as hardware, firmware, software or a combination thereofwhich interact with or are otherwise executed by one or more computerprocessors, which may include the processors of control system 112 inFIG. 1.

Tracking system 230 may optionally track distal end 218 and/or one ormore of the segments 224 using a shape sensor 222. Shape sensor 222 mayoptionally include an optical fiber aligned with flexible body 216(e.g., provided within an interior channel (not shown) or mountedexternally). In one embodiment, the optical fiber has a diameter ofapproximately 200 μm. In other embodiments, the dimensions may be largeror smaller. The optical fiber of shape sensor 222 forms a fiber opticbend sensor for determining the shape of flexible body 216. In onealternative, optical fibers including Fiber Bragg Gratings (FBGs) areused to provide strain measurements in structures in one or moredimensions. Various systems and methods for monitoring the shape andrelative position of an optical fiber in three dimensions are describedin U.S. patent application Ser. No. 11/180,389 (filed Jul. 13, 2005)(disclosing “Fiber optic position and shape sensing device and methodrelating thereto”); U.S. patent application Ser. No. 12/047,056 (filedon Jul. 16, 2004) (disclosing “Fiber-optic shape and relative positionsensing”); and U.S. Pat. No. 6,389,187 (filed on Jun. 17, 1998)(disclosing “Optical Fibre Bend Sensor”), which are all incorporated byreference herein in their entireties. Sensors in some embodiments mayemploy other suitable strain sensing techniques, such as Rayleighscattering, Raman scattering, Brillouin scattering, and Fluorescencescattering. In some embodiments, the shape of the elongate device may bedetermined using other techniques. For example, a history of the distalend pose of flexible body 216 can be used to reconstruct the shape offlexible body 216 over the interval of time. In some embodiments,tracking system 230 may optionally and/or additionally track distal end218 using a position sensor system 220. Position sensor system 220 mayuse any appropriate sensing technology or combination of sensingtechnologies, such as: OFDR (optical frequency domain reflectometry)techniques such as those using Fiber Bragg gratings, Raleigh scattering,or some other applicable reflection approach; position sensors enabledby EM (electromagnetic) techniques; linear rotary encoder techniquessupported by capacitive, optical, resistive, or other technologies; etc.As a specific example, position sensor system 220 may comprise, or be acomponent of, an electromagnetic (EM) sensor system including one ormore conductive coils that may be subjected to an externally generatedelectromagnetic field. Each coil of such an EM sensor system used toimplement position sensor system 220 then produces an induced electricalsignal having characteristics that depend on the position andorientation of the coil relative to the externally generatedelectromagnetic field. In some embodiments, position sensor system 220may be configured and positioned to measure six degrees of freedom,e.g., three position coordinates X, Y, Z and three orientation anglesindicating pitch, yaw, and roll of a base point or five degrees offreedom, e.g., three position coordinates X, Y, Z and two orientationangles indicating pitch and yaw of a base point. Further description ofa position sensor system is provided in U.S. Pat. No. 6,380,732 (filedAug. 11, 1999) (disclosing “Six-Degree of Freedom Tracking System Havinga Passive Transponder on the Object Being Tracked”), which isincorporated by reference herein in its entirety.

In some embodiments, tracking system 230 may alternately and/oradditionally rely on historical pose, position, or orientation datastored for a known point of an instrument system along a cycle ofalternating motion, such as breathing. This stored data may be used todevelop shape information about flexible body 216. In some examples, aseries of position sensors (not shown), such as electromagnetic (EM)sensors similar to the sensors used in some embodiments of positionsensor system 220 may be positioned along flexible body 216 and thenused for shape sensing. In some examples, a history of data from one ormore of these sensors taken during a procedure may be used to representthe shape of elongate device 202, particularly if an anatomic passagewayis generally static.

Flexible body 216 includes a channel 221 sized and shaped to receive amedical instrument 226. FIG. 2B is a simplified diagram of flexible body216 with medical instrument 226 extended according to some embodiments.In some embodiments, medical instrument 226 may be used for proceduressuch as surgery, biopsy, ablation, illumination, irrigation, or suction.Medical instrument 226 can be deployed through channel 221 of flexiblebody 216 and used at a target location within the anatomy. Medicalinstrument 226 may include, for example, image capture probes, biopsyinstruments, laser ablation fibers, and/or other surgical, diagnostic,or therapeutic tools. Medical tools may include end effectors having asingle working member such as a scalpel, a blunt blade, an opticalfiber, an electrode, and/or the like. Other end effectors may include,for example, forceps, graspers, scissors, clip appliers, and/or thelike. Other end effectors may further include electrically activated endeffectors such as electrosurgical electrodes, transducers, sensors,and/or the like. In various embodiments, medical instrument 226 is abiopsy instrument, which may be used to remove sample tissue or asampling of cells from a target anatomic location. Medical instrument226 may be used with an image capture probe also within flexible body216. In various embodiments, medical instrument 226 may be an imagecapture probe that includes a distal portion with a stereoscopic ormonoscopic camera at or near distal end 218 of flexible body 216 forcapturing images (including video images) that are processed by avisualization system 231 for display and/or provided to tracking system230 to support tracking of distal end 218 and/or one or more of thesegments 224. The image capture probe may include a cable coupled to thecamera for transmitting the captured image data. In some examples, theimage capture instrument may be a fiber-optic bundle, such as afiberscope, that couples to visualization system 231. The image captureinstrument may be single or multi-spectral, for example capturing imagedata in one or more of the visible, infrared, and/or ultravioletspectrums. Alternatively, medical instrument 226 may itself be the imagecapture probe. Medical instrument 226 may be advanced from the openingof channel 221 to perform the procedure and then retracted back into thechannel when the procedure is complete. Medical instrument 226 may beremoved from proximal end 217 of flexible body 216 or from anotheroptional instrument port (not shown) along flexible body 216.

Medical instrument 226 may additionally house cables, linkages, or otheractuation controls (not shown) that extend between its proximal anddistal ends to controllably the bend distal end of medical instrument226. Steerable instruments are described in detail in U.S. Pat. No.7,316,681 (filed on Oct. 4, 2005) (disclosing “Articulated SurgicalInstrument for Performing Minimally Invasive Surgery with EnhancedDexterity and Sensitivity”) and U.S. Pat. No. 9,259,274 (filed Sep. 30,2008) (disclosing “Passive Preload and Capstan Drive for SurgicalInstruments”), which are incorporated by reference herein in theirentireties.

Flexible body 216 may also house cables, linkages, or other steeringcontrols (not shown) that extend between drive unit 204 and distal end218 to controllably bend distal end 218 as shown, for example, by brokendashed line depictions 219 of distal end 218. In some examples, at leastfour cables are used to provide independent “up-down” steering tocontrol a pitch of distal end 218 and “left-right” steering to control ayaw of distal end 281. Steerable elongate devices are described indetail in U.S. patent application Ser. No. 13/274,208 (filed Oct. 14,2011) (disclosing “Catheter with Removable Vision Probe”), which isincorporated by reference herein in its entirety. In embodiments inwhich medical instrument system 200 is actuated by a teleoperationalassembly, drive unit 204 may include drive inputs that removably coupleto and receive power from drive elements, such as actuators, of theteleoperational assembly. In some embodiments, medical instrument system200 may include gripping features, manual actuators, or other componentsfor manually controlling the motion of medical instrument system 200. Insome examples, the actuator(s) can be used to actuate an articulable endeffector of medical instrument 226, such as for grasping tissue in thejaws of a biopsy device or the like. One or more actuator positionsensors such as resolvers, encoders, potentiometers, and/or othermechanisms may provide sensor data to the teleoperational assemblyincluding position and/or rotation information for the actuators and/orthe one or more wires 240. In some examples, this sensor data may beused to determine motion of distal end 218 and/or one or more endeffectors being manipulated by the actuators. In some examples, thissensor data may be used to calculate forces and/or torques being appliedby wires 240. Actuators are discussed in more detail below.

Elongate device 202 may be steerable or, alternatively, the system maybe non-steerable with no integrated mechanism for operator control ofthe bending of distal end 218. In some examples, one or more lumens,through which medical instruments can be deployed and used at a targetsurgical location, are defined in the walls of flexible body 216.

In some embodiments, medical instrument system 200 may include aflexible bronchial instrument, such as a bronchoscope or bronchialcatheter, for use in examination, diagnosis, biopsy, or treatment of alung. Medical instrument system 200 is also suited for navigation andtreatment of other tissues, via natural or surgically created connectedpassageways, in any of a variety of anatomic systems, including thecolon, the intestines, the kidneys and kidney calices, the brain, theheart, the circulatory system including vasculature, and/or the like.

The information from tracking system 230 may be sent to a navigationsystem 232 where it is combined with information from visualizationsystem 231 and/or the preoperatively obtained models to provide thephysician or other operator with real-time position information. In someexamples, the real-time position information may be displayed on displaysystem 110 of FIG. 1 for use in the control of medical instrument system200. In some examples, control system 116 of FIG. 1 may utilize theposition information as feedback for positioning medical instrumentsystem 200. Various systems for using fiber optic sensors to registerand display a surgical instrument with surgical images are provided inU.S. patent application Ser. No. 13/107,562, filed May 13, 2011,disclosing, “Medical System Providing Dynamic Registration of a Model ofan Anatomic Structure for Image-Guided Surgery,” which is incorporatedby reference herein in its entirety.

In some examples, medical instrument system 200 may be teleoperatedwithin medical system 100 of FIG. 1. In some embodiments,teleoperational manipulator assembly 102 of FIG. 1 may be replaced bydirect operator control. In some examples, the direct operator controlmay include various handles and operator interfaces for hand-heldoperation of the instrument.

In some embodiments, control system 112 is configured to apply commandsto teleoperational manipulator assembly 102 and/or to one or moreactuators, which control bending of distal end 218 of flexible body 216through the use of steer controls, which may include one or more gears,levers, pulleys, cables, wires, rods, bands, and/or the like and/or anycombination of these approaches. The steering controls are then used totransmit actions from the one or more inputs along the shaft of thesurgical instrument and to actuate distal end 218. In some examples, thecommands include one or more instructions stored in a memory. Theseinstructions may be executed by a processor (e.g., a processor of thecontrol system 112).

According to some embodiments, flexible body 216 may be steered withinsome passageway of patient P. As flexible body 216 makes contact withwalls of the passageway, there may be external forces which push againstflexible body 216 from the passageway, and vice versa. In some examples,the external forces may be determined using one or more force and/orpressure sensors located on or inside flexible body 216. Depending uponthe magnitude of force applied to the pushing and/or pulling on wires240, a rigidity or stiffness of flexible body 216 may optionally becontrolled so that the ability of flexible body to resist and/or reducethe external forces, which may cause flexible body to bend, mayoptionally be adjusted. In some examples, the higher the magnitude ofthe force applied to the wires 240, the higher the rigidity exhibited byflexible body 216.

FIG. 3 illustrates an exemplary actuator 400, such as an actuatorcontained within drive unit 204. In some examples, actuator 400, asshown in FIG. 3, is based on a rotational actuation approach in which arotating spindle 410 is rotated to actuate a controllable degree offreedom (DOF). Rotating spindle 410 is coupled to a drive shaft 420which may be the drive shaft of a motor, servo, active actuator,hydraulic actuator, pneumatic actuator, and/or the like and/or anycombination of these approaches (not shown). As torque is applied todrive shaft 420 and rotating spindle 410 is rotated, a wire 430 attachedto rotating spindle 410 and/or drive shaft 420 may be further wrappedaround and/or unwrapped from around rotating spindle 410 and/or driveshaft 420.

According to some embodiments, wire 430 may correspond to any of wires240-242 and/or wires 310-340. In some examples, rotation of rotatingspindle 410 and drive shaft 420 and the corresponding wrapping and/orunwrapping of wire 430 may result in a pushing force and/or pullingforce on wire 430. In some examples, monitoring a rotation angle and/orrotational velocity of rotating spindle 410 and/or drive shaft 420 mayalso provide an indication of how far wire 430 is being released and/orpulled. Thus, when actuator 400 is used in conjunction with the wires240, the rotation angle and/or rotational velocity of rotating spindle410 and/or drive shaft 420 and/or the torque applied by actuator 400 todrive shaft 420 may provide useful feedback on the forces applied towire 430 and thus the steering to be applied at the distal end (e.g.,distal end 218) of medical instrument system 200 by wire 430. Which waydistal end 218 will bend may depend upon the placement of wire 430 withrespect to other wires that are also contributing to steering.

In some embodiments, releasing or reducing the force in the wires of thecatheter body may cause a corresponding reduced stiffness or rigidity inthe catheter. Similarly, applying or increasing a pulling or pushingforce in the wires of the catheter body may cause an increase instiffness or rigidity of the catheter. This stiffness may be thephysical stiffness or rigidity of the catheter body material. Forexample, the material of the catheter body may become stiffer withmultiple steering wires pulled concurrently. Alternatively, thestiffness or rigidity of the catheter may be a closed-loop stiffness orrigidity controlled by the control system. The closed-loop cathetercontrol system and methods are described, for example, in U.S. patentapplication Ser. No. 13/274,198 (filed Oct. 14, 2011) (disclosing“Catheters with Control Modes for Interchangeable Probes”) which isincorporated by reference herein in its entirety.

In some examples, drive shaft 420 may provide force and/or torquefeedback information to medical instrument 104 and control system 112.In some examples, position sensors such as resolvers, encoders,potentiometers, and other mechanisms may provide data to theteleoperational assembly regarding the rotation and/or orientation ofdrive shaft 420 and/or rotating spindle 410. In some examples, actuator400 may be used in conjunction with the wires 240 to respond to externalforces acting on distal end 218 and measured by one or more force and/orpressure sensors. In some examples, an external force detected by theone or more force and/or pressure sensors may optionally be compensatedfor by actuating a corresponding wire, to steer distal end 218 toward oraway from the external force.

FIGS. 4A and 4B are simplified diagrams of side views of a patientcoordinate space including a medical instrument mounted on an insertionassembly, according to some embodiments. As shown in FIGS. 4A and 4B, asurgical environment 500 includes a patient P positioned on platform502. Patient P may be stationary within the surgical environment in thesense that gross patient movement is limited by sedation, restraint,and/or other means. Cyclic anatomic motion including respiration andcardiac motion of patient P may continue, unless patient is asked tohold his or her breath to temporarily suspend respiratory motion.Accordingly, in some embodiments, data may be gathered at a specificphase in respiration and tagged and identified with that phase. In someembodiments, the phase during which data is collected may be inferredfrom physiological information collected from patient P. Within surgicalenvironment 500, a point gathering instrument 504 is coupled to aninstrument carriage 506. In some embodiments, point gathering instrument504 may use EM sensors, shape-sensors, and/or other sensor modalities.As the measurement points are collected from within the passageways ofpatient P, the points are stored in a data storage device, such as amemory. The set of measured points may be stored in a database thatincludes at least some, but may include all, of the measured pointsobtained during the procedure or immediately before the procedure. Asstored in memory, each of the points may be represented by datacomprising coordinates of the point, a timestamp, and/or a relativesensor position or individual sensor ID (when multiple sensorsdistributed along a length of the point gathering instrument 504 areused to determine the location of several points simultaneously).

Instrument carriage 506 is mounted to an insertion stage 508 fixedwithin surgical environment 500. Alternatively, insertion stage 508 maybe movable but may also have a known location (e.g., via a trackingsensor or other tracking device) within surgical environment 500.Instrument carriage 506 may be a component of a teleoperationalmanipulator assembly (e.g., teleoperational manipulator assembly 102)that couples to point gathering instrument 504 to control insertionmotion (i.e., motion along the A axis) and, optionally, motion of distalend 518 of a flexible elongate instrument 510 in multiple directionsincluding yaw, pitch, and roll. In some examples, flexible elongateinstrument 510 corresponds with instrument system 200 and/or flexiblebody 300. Instrument carriage 506 or insertion stage 508 may includeactuators, such as servomotors, (not shown) that control motion ofinstrument carriage 506 along insertion stage 508.

Elongate instrument 510 is coupled to an instrument body 512. Instrumentbody 512 is coupled and fixed relative to instrument carriage 506. Insome examples, an optical fiber shape sensor 514 is fixed at a proximalpoint 516 on instrument body 512. In some embodiments, proximal point516 of optical fiber shape sensor 514 may be movable along instrumentbody 512 and the location of proximal point 516 may be known (e.g., viaa tracking sensor or other tracking device). Shape sensor 514 measures ashape from proximal point 516 to another point such as distal end 518 ofelongate instrument 510. In some examples, point gathering instrument504 may be similar to medical instrument system 200.

A position measuring device 520 provides information about the positionof the instrument body 512 as it moves on insertion stage 508 along aretraction and/or insertion axis A (such as a direction along thelongitudinal central axis of the instrument body). The positionmeasuring device 520 may include resolvers, encoders, potentiometers,and other sensors that determine the rotation and orientation of driveshafts controlling the motion of the instrument carriage 506 andconsequently the motion of the instrument body 512. In some embodiments,insertion stage 508 is linear. In some examples, insertion stage 508 maybe curved or have a combination of curved and linear sections.

FIG. 4A shows instrument body 512 and instrument carriage 506 in aretracted position along insertion stage 508. In this retractedposition, proximal point 516 is at a position L₀ on axis A. In thisposition along insertion stage 508 an A component of the location ofproximal point 516 may be set to a zero and/or another reference valueto provide a base reference to describe the position of instrumentcarriage 506, and thus proximal point 516, on insertion stage 508. Withthis retracted position of instrument body 512 and instrument carriage506, distal end 518 of elongate instrument 510 may be positioned justinside an entry orifice of patient P. Also in this position, positionmeasuring device may be set to a zero and/or another reference value(e.g., I=0). In FIG. 4B, instrument body 512 and instrument carriage 506have advanced along the linear track of insertion stage 508 and distalend 518 of flexible elongate instrument 510 has advanced into patient P.In this advanced position, the proximal point 516 is at a position L₁ onthe A-axis. In some examples, encoder and/or other position data fromone or more actuators controlling movement of instrument carriage 506along insertion stage 508 and/or one or more position sensors associatedwith instrument carriage 506 and/or insertion stage 508 is used todetermine the position L_(A) of proximal point 516 relative to position4. In some examples, position L₁ may further be used as an indicator ofthe distance or the insertion depth to which distal end 518 of elongateinstrument 510 is inserted into the passageways of the anatomy ofpatient P. In alternative examples, the flexible elongate instrument 510can be advanced to a position causing the proximal point 516 to be at aposition beyond L₁.

Flexible elongate instrument 510 may be advanced from position L₀,advanced or retracted from any position between L₀ and the advancedposition L₁, or advanced or retracted from any position beyond L₁.During the retraction, it may be desirable that distal end 518 have adecreased rigidity so as to reduce the risk of harm to patient P and/ordamage to flexible elongate instrument 510. Rigidity in the flexibleinstrument during retraction could cause a force to be applied by distalend 518 against the walls of the passageways, resulting in abrasion. Toprevent damage to the anatomic passageways, the rigidity of distal end518 may be decreased during the retraction such that any contact withthe walls of the passageway and resulting force from the contact may bereduced. In some procedures, retraction occurs in the context of makingminor position adjustments or small, quick reciprocal motion. In suchprocedures, an abrupt full slackening of the flexible instrument duringretraction may be undesirable because full slackening could change theorientation (i.e., the pointing direction) of the distal end of theinstrument. Therefore, in some embodiments, adjusting the rigidity ofthe flexible instrument gradually based on an elapsed time or distancetraveled during a movement mode may be more suitable. This may allow forminor retraction motion and subsequent insertion motion withoutalteration of the orientation of the distal end of the instrument. Insuch embodiments, it may be advantageous to control the increase ordecrease in the rigidity of flexible elongate instrument according to arigidity profile as described in FIGS. 5A and 5B. Alternatively, therigidity adjustment may have a stepwise profile with no rigidityadjustment for a period of time until a threshold time, distance, orspeed is achieved, followed by full slackening after the threshold isreached.

In some embodiments, flexible elongate instrument 510 may be parkedwithin passageways of the anatomy of patient P such that it is not beinginserted or retracted. While parked, it may be desirable to increase therigidity, or place the elongate instrument in a “locked” mode in orderto provide stability to an instrument deployed through flexible elongateinstrument 510 as a procedure is performed. Alternatively, it may bedesirable to keep the rigidity relatively constant, decrease therigidity so that any contact with the walls of the passageway andresulting force from this contact may be reduced or, as with theretraction or insertion, it would be advantageous to control therigidity of flexible elongate instrument 510 according to a rigidityprofile.

FIGS. 5A and 5B are exemplary rigidity profiles 600 and 650,respectively, for a flexible elongate instrument, such as flexible body216 and/or flexible elongate instrument 510. Rigidity profiles 600 and650 are graphical representations of possible variations of the rigidityor stiffness, illustrated by curves 610 and 660, respectively. Curves610 and 660 show how the rigidity, designated by k, may be adjusted as afunction of a parameter designated by S representing an extent of amovement mode such as insertion, retraction, or park. In some examples,control system 112 is configured to apply one or more of rigidityprofiles 600 and/or 650 to the flexible elongate instrument during aprocedure.

According to some embodiments, S may represent a distance or a change indistance, for example a change in the insertion depth or a retractiondistance for the flexible elongate instrument or the distance traveledas a percentage of a largest insertion depth value by the flexibleelongate instrument through patient passageways. According to otherembodiments, S may represent other variables that may be used tocharacterize an extent of the retraction, insertion, and/or parking forthe flexible elongate instrument. For example, S may represent anelapsed insertion time, elapsed retraction time, elapsed parking time,change in insertion depth, retraction distance, velocity, speed, and/orthe like and/or any combination thereof. Alternatively, S may representan elapsed time since the insertion, retraction, or parking began.

Rigidity value k may range between an initial value (e.g., k₁, k₃) and afinal value (e.g., k₂, k₄) over the course of an instrument movementmode such as retraction, insertion or parking. In some examples, thelowest rigidity value (e.g. k₂, k₃) may correspond to a desired nominalvalue, such as zero or a small but non-zero rigidity. The desirednominal rigidity value may be operator-selected, based on the size ofone or more actuators actuating the flexible elongate instrument, basedon the ability of the flexible elongate instrument to bend in responseto anatomic motions, based on a procedure being performed, and/or thelike and/or any combination of these approaches.

As shown in FIGS. 5A and 5B, the rigidity profiles 600 and 650 can beorganized in different zones of behavior for the rigidity of theflexible elongate instrument as exemplified by curves 610 and 660. Forexample, FIG. 5A includes zones 620, 630, 640 and FIG. 5B includes zones670, 680, 690. Each zone may represent an elapsed S period such as adifferent distance traveled or a different period of time, and thecurves 610 and 660 can represent different rates of change of rigidityvalue k in different zones. Some zones such as zones 620, 640, 670, 690may serve as transition zones where the rigidity value k is keptrelatively constant as S increases, so that the rigidity profile maysmoothly transition at the beginning and ending of a movement mode suchas retraction, insertion or parking. In other zones, such as zones 630,680, the rate of change in rigidity value k is greater. In theseexamples, the zones of greatest rigidity rate change occur near themiddle of a movement mode, but in other examples, the zone of greatestrigidity rate change may occur at other periods of the movement mode. Insome examples, rigidity profiles 600 and/or 650 may optionally includeadditional zones (not shown) with corresponding functions of rigidity.In some examples, a rigidity profile may feature a combination ofrigidity profiles 600 and 650. In some embodiments, rigidity profiles600 and/or 650 may optionally include any combination of linear,non-linear, exponential, logarithmic, step, piece-wise, hyperbolic,parabolic, periodic/trigonometric, inverse hyperbolic, polynomial,modular, other monotonic functions, and/or the like and/or anycombination thereof. In some examples, rigidity profiles may alsoinclude a hysteresis or memory feature in which the adjustment instiffness in one direction S (for example when moving from small tolarge values) is different than in the opposite direction of S. Ingeneral, rigidity adjustment profiles may depend in a linear ornonlinear way on variables other than S, such as the derivative of S,the integral of S, or any combination thereof, or on other additionalvariables.

Rigidity profile 600 and/or 650 may be used to adjust forces applied byone or more actuators to one or more wires, such as any of wires 240,430 used to control the steering of the distal end of the flexibleelongate instrument. For example, rigidity profile 600 and/or 650 may beused to adjust a force and/or a torque applied by the one or moreactuators to control the pushing and/or pulling of one or more of theone or more wires within the flexible elongate instrument. Whenadjusting a force and/or torque applied by one or more actuators,rigidity profile 600 and/or 650 may implement a scaling factor and/ortorque multiplier used to scale a force and/or torque that is applied bythe one or more actuators. In some examples, the scaling factor ortorque multiplier may range from 1.0 or near 1.0 for k₁ to a nominal,possibly non-zero value for k₂. In some examples, the scaling factor ortorque multiplier may range from a nominal, possibly non-zero value fork₃ to 1.0 or near 1.0 for k₄. In some examples, rigidity profiles 600and/or 650 may represent a function that is dependent upon additionalfactors such as an external force applied to the flexible elongateinstrument, a shape of the flexible elongate instrument, a sensitivityof the anatomy forming the passageways, a curvature of the anatomy, oneor more operator preferences, and/or the like and/or any combination ofthese approaches. In some examples, the rigidity may correspond to anaggregation of the individual forces on each wire, e.g., by average,weighted sum, and/or the like and/or any combination of theseapproaches.

Referring to FIG. 5A, an example of a rigidity profile is shown duringthe retraction mode of an elongate flexible device. By applying rigidityprofile 600 during the retraction mode, the rigidity of the flexibleelongate instrument is decreased, and consequently any contact forcefrom the flexible elongate instrument applied to the anatomic tissue,such as a wall of a passageway, may be reduced. In addition, thecontrolled reduction in the rigidity may be particularly suitable whenthe instrument is being adjusted, being moved in a reciprocal motion, orotherwise being retracted relatively small distances before becomingparked or transitioning to an insertion movement.

Generally, an instrument with an applied rigidity profile 600 wouldexperience only a slight decrease in rigidity in zone 620, a greaterdecrease in rigidity in zone 630, and a relatively steady relaxes statein zone 640. More specifically, in a first zone 620, the rigidity isapproximately maintained at an initial rigidity, k₁, or decreasesslightly below k₁ as S is increased and the retraction begins to occur.In a second zone 630, starting at S₁, the rigidity is decreased at afaster rate than at first zone 620 as S further increases and additionalretraction occurs with the likelihood of contact between a distal end ofthe flexible elongate instrument and walls of the passagewaysincreasing. Rigidity may be decreased at a faster rate, causing theinstrument to more quickly lose stiffness and therefore reduce thepossible damage to the patient that a rigid instrument would cause. In athird zone 640, starting at S₂, the rigidity is tapered to a nearconstant desired final value, k₂, as the retraction distance continuesto increase.

Referring to FIG. 5B, an example of a rigidity profile is shown duringthe insertion mode of an elongate flexible device. In this example, Scan represent a distance traveled or time period during insertion mode.In the example of FIG. 5B, rigidity profile 650 is a mirror image ofrigidity profile 600, and may optionally be used to increase therigidity during the insertion and/or parking of the flexible elongateinstrument in order to allow control of the distal end as the flexibleelongate instrument advances and/or is held steady within a passageway.Generally, an instrument with an applied rigidity profile 650 wouldexperience only a slight increase in rigidity in zone 670, a greaterincrease in rigidity in zone 680, and a relatively steady rigid state inzone 690. More specifically, in a first zone 670, the rigidity isapproximately maintained at an initial rigidity, k₃, or increasesslightly above k₃ as S is increased when the insertion and/or parkingbegins. In a second zone 680, the rigidity is increased at a faster ratethan at first zone 670 as S further increases. In FIG. 5B, the rigidityis increased at a faster rate at second zone 680 as S further increases.In a third zone 690, the rigidity is tapered to a near constant desiredfinal value, k₄, as S continues to increase. In some examples, k₄ maycorrespond to a desired maximum rigidity. The desired maximum rigiditymay be operator-selected, based on the size of one or more actuatorsactuating the flexible elongate instrument, based on a procedure beingperformed, a safety ceiling, and/or the like and/or any combination ofthese approaches.

In some embodiments, a rigidity profile similar to rigidity profile 600or rigidity profile 650 may be applied when the flexible instrumententers a parking mode. For example, if the flexible instrument entersthe parking mode from a retraction mode, the flexible instrument may bestiffened while in the parking mode. With some rigidity profiles appliedduring the parking mode, the rigidity may increase or decrease morequickly because the flexible instrument is not moving.

In some embodiments, first zone 620/670 and/or third zone 640/690 areoptional. Rigidity profile 600/650 may have different shapes and/orregions than those depicted in curve 610/660. As shown, rigidity profile600/650 is a smooth function, such that it is at least continuouslydifferentiable within its zone, or rigidity profile 600/650 may be onecontinuous function through zones 620/670-640/690. Alternatively,rigidity profile 600/650 is not continuously differentiable at startingand/or ending points between one or more of zones 620/670-640/690. Insome examples, rigidity profile 600/650 is a constant at first zone620/670 at an initial value k₁. At second zone 63/6800, starting at S₁,the rigidity may decrease linearly as S is increased until third zone640/690 at S₂. Rigidity profile 600/650 may optionally include a seriesof steps, starting at an initial value k₁ at first zone 620/670, andstepping down or up to a desired final value k₂ at second zone 630/680.In some examples, shape of curve 610/660 is representative of a logisticfunction. In some examples, rigidity profile 600/650 is a monotonicdecreasing or increasing function to ensure that there is a decrease,increase and/or no change in the rigidity throughout the motion of theflexible elongate instrument.

Although the systems and methods of this disclosure have been describedfor use in the connected airways of the lung, they are also suited fornavigation and treatment of other tissues, via natural or surgicallycreated connected passageways, in any of a variety of anatomic systemsincluding the intestines, the kidneys, the brain, the heart, thecirculatory system, urethras, arteries, umbilical lines, and/or thelike.

FIG. 6 is a flowchart illustrating an exemplary method 700 forcontrolling a flexible body, such as flexible body 216 and/or flexibleelongate instrument 510. The method 700 is illustrated in FIG. 6 as aset of operations or processes 702-710. Not all of the illustratedprocesses 702-710 may be performed in all embodiments of method 700.Additionally, one or more processes that are not expressly illustratedin FIG. 6 may be included before, after, in between, or as part of theprocesses 702-710. In some embodiments, one or more of the processes702-710 may be implemented, at least in part, in the form of executablecode stored on non-transitory, tangible, computer readable media thatwhen run by one or more processors (e.g., the processors of controlsystem 112) may cause the one or more processors to perform one or moreof the processes 702-710. In some examples, the method may begin whenthe flexible body is initiated into a passageway. In some examples,anatomic passageways may include the intestines, the kidneys, the brain,the heart, the circulatory system, lungs, urethras, arteries, umbilicallines, and/or the like.

During a process 702, movement of the flexible body is monitored.Movement of the flexible body may be measured by a sensor system, suchas sensor system 108. One or more sensors, such as position sensorsystem 220, shape sensor 222, or position measuring device 520 may beused to determine a position of the flexible body. The position maycorrespond to an insertion depth, such as the position of instrumentbody 512 along axis A. The monitoring may occur continuously,periodically, and/or at set markers. In some examples, process 702 maybe performed concurrently with other steps in method 700. Alternatively,movement can be determined based on commanded motion from an inputdevice such as those described with reference to master assembly 106. Insome examples, detection of an input device which would correlate withinsertion or retraction can be used to determine movement. In furtherexamples, a user can provide an input by depressing a button or clickingon a button on a touchscreen to indicate an intended change indirection.

Monitoring the movement of the flexible body may include recording stateproperties of the flexible body such as a current position, a currenttime, and/or a current control configuration (e.g., current rigiditycaused by closed-loop steering wire control) for the flexible body.Alternatively, monitoring the movement of the flexible body may includerecording an input magnitude of the input device determined by a measureof size, speed, or velocity of the operator input at the control device,time an input device has been actuated in one direction, pressure placedon an input device, loss of contact between an operators hand and theinput device, and/or the like. Recording the current position mayinclude measuring an insertion depth, such as the position of instrumentbody 512 along axis A. Recording the current rigidity may includemeasuring one or more forces applied by one or more actuators to one ormore wires, such as any of wires 240-242, wires 310-340, and/or wire430, used to control the steering of the distal end, such as distal end218, of the flexible body. The rigidity may correspond to an aggregationof the individual forces on each wire, e.g., by average, weighted sum,and/or the like. Measuring the rigidity may also include taking intoaccount external forces applied to flexible body, which may be measuredby one or more force and/or pressure sensors, such as one or more straingauges. In some examples, measuring the rigidity may also include takinginto account a measured shape of the distal end, a moment of inertia,Young's modulus, the length of the bending portion of the distal end,and/or the like and/or any combination of these approaches. Measuringthe rigidity may include measuring a motor current or an appliedactuator torque, such as the torque applied by the actuator to driveshaft 420, used to control the force applied to the one or more wires.In some examples, a rigidity profile of a previous mode may be used todetermine the current rigidity based on monitored movement duringprocess 702.

During a process 704, a mode of operation for the flexible body isdetermined. The mode may correspond to one of retraction, insertion, andparking modes. The mode may be determined based on the movementmonitored during process 702. In some examples, the mode determinationmay be based on elapsed time, velocity, distance traveled of theflexible body, and/or the like and/or any combination thereof. Distancetraveled may be equal to the displacement between a current position andthe insertion depth recorded during process 702. The current positionmay correspond to an insertion depth of the flexible body. The elapsedtime may be equal to the difference between a current time and the timerecorded during process 702. The velocity may be calculated by a sensor,using numerical differentiation, dividing a distance traveled by anelapsed time, and/or by exponential smoothing of velocity sample values,low pass filtering, and/or any combination of these approaches.Numerical differentiation may include backward difference approximationand/or the like. In some examples, the mode determination may be basedon input magnitude of the input device determined by a measure of size,speed, or velocity of the operator input at the control device, time aninput device has been actuated in one direction, pressure placed on aninput device, loss of contact between an operators hand and the inputdevice, and/or the like.

The movement mode may be determined to be the insertion mode when thevelocity of the flexible body exceeds a threshold value in an insertiondirection or an input device is actuated at a velocity in an insertiondirection over a threshold value. Additionally or alternatively, themode may be determined to be the insertion mode when the velocity of theflexible body or the velocity at which an input device is actuatedexceeds a threshold value in the insertion direction for a thresholdtime. In some examples, the threshold time is between 1 and 10 seconds.In some examples, the threshold velocity is between 0.1-5 millimetersper second in the insertion direction. In some examples, the flexiblebody is considered to be in the insertion mode until the velocity of theflexible body in the retraction direction exceeds a threshold value. Insome examples, the actuation of the input device is considered to be inthe insertion mode until the velocity of the actuation of the inputdevice in the retraction direction exceeds a threshold value.

The mode may be determined to be the retraction mode when the velocityof the flexible body exceeds a threshold value in a retraction directionor an input device is actuated at a velocity in a retraction directionover a threshold value. Additionally or alternatively, the mode may bedetermined to be the retraction mode when the velocity of the flexiblebody or the velocity at which an input device is actuated exceeds athreshold value in a retraction direction for a threshold time. In someexamples, the threshold time is between 1 and 10 seconds. In someexamples, the threshold velocity is between 0.1-5 millimeters per secondin a retraction direction. In some examples, the flexible body isconsidered to be in the retraction mode until the velocity of theflexible body in the insertion direction exceeds a threshold value. Insome examples, the actuation of the input device is considered to be inthe insertion mode until the velocity of the actuation of the inputdevice in the retraction direction exceeds a threshold value. In someexamples, the mode may be determined to be the retraction mode when theretracted distance traveled since the last forward motion exceeds athreshold value such as 5 or 10 mm. In some examples, the mode may bedetermined to be in the retraction mode when the flexible body iscommanded via the user input to retract a distance since the lastforward motion that exceeds a threshold value such as 5 or 10 mm.

The mode may be determined to be the parking mode when the magnitude ofthe velocity of the flexible body falls below a threshold value or whenthe input device is actuated at a velocity that falls below a thresholdvalue. Additionally or alternatively, the mode may be determined to bethe parking mode when the velocity of the flexible body or the velocityat which the input device is actuated falls below a threshold value fora threshold time. In some examples, the threshold time is between 1 and10 seconds. In some examples, the magnitude of the threshold velocity isbetween 0.1-5 millimeters per second. In some examples, the conditionsassociated with a threshold velocity and/or a threshold time beforedetermining a change in the mode may be to account for perturbations,sensed noise, cyclic anatomic motion (e.g., respiration and cardiacmotion), movement within an anatomy, and/or other movement caused byenvironmental displacement and/or combinations thereof. In someexamples, the mode may be determined to be the parking mode due to lossof operator contact with the input device.

During a process 706, an extent of movement (including lack of movement)in the mode of operation is determined. Using commanded motion from aninput device or sensors similar to ones discussed with respect toprocess 702, the extent of the retraction movement, insertion movement,or parking/stability is measured. The extent of the movement may includemeasurement of an elapsed time, distance traveled, and/or the likeand/or any combination thereof. The distance traveled may be equal tothe displacement between a current insertion depth of the flexible bodyand the insertion depth recorded during process 702 or a displacement ina current input device position and a previous input device position.The elapsed time may be equal to the difference between a current timeand the time recorded during process 702.

During a process 708, the rigidity of the flexible body is adjustedbased on the extent of the movement. The rigidity may be adjusted bycontrolling the forces applied by one or more actuators on one morewires used to control the steering of the distal end of the flexiblebody. Each wire may have the force adjusted by its own force profilethat is substantially similar to the rigidity profile. The rigidity maybe modified by adjusting a force and/or a torque applied by the one ormore actuators to control the pushing and/or pulling of one or more ofthe one or more wires in the flexible body. In some examples, an actualforce or torque applied by an actuator is adjusted. In some examples, amaximum force and/or torque limit is placed on a controller controllingeach of the one or more actuators.

During the retraction mode, the rigidity of the flexible body may bedecreased according to a rigidity profile, such as rigidity profile 600.K₁ may be set to the rigidity recorded during process 702 and decreaseduntil the rigidity is at a final rigidity value such as k₂ from rigidityprofile 600. The final rigidity may be set at a nominal, possiblynon-zero value, to retain at least some control over a bend in thedistal end of the flexible body, an instrument deployed at the distalend of the flexible body, and/or the like. During the insertion mode,the rigidity of the flexible body may be increased according to arigidity profile, such as rigidity profile 650. K₃ may be set to therigidity recorded during process 702 and increased until the rigidity isat a final rigidity such as k₄ from rigidity profile 650. During theparking mode, the final rigidity may provide sufficient stiffness to theflexible body to steer the advancing flexible body and control theorientation of a medical tool deployed from the flexible body.Alternatively, during the parking mode, rigidity may be increased in alocked mode so that the flexible body may be properly articulated or mayact as an effective stationary platform.

During process 708, the rigidity may be adjusted based upon additionalfactors such as by one or more external forces applied to the flexiblebody, a shape of the flexible body, a sensitivity of the anatomy formingthe passageways, a curvature of the anatomy, one or more operatorpreferences, and/or the like and/or any combination of these approaches.

During a process 710, it is determined whether a change in movement modeoccurs. For example, a change from insertion mode to retraction or parkmode may be determined or a change from retraction mode to insertion orpark mode may be determined. The change in mode may be determined basedon an elapsed time, velocity, distance traveled and/or the like and/orany combination thereof. In some examples, a change in mode isdetermined based on a change in direction of movement of flexible body.In some examples, a change in mode is determined when the velocity ofthe flexible body exceeds a threshold value in a direction opposite ofthe previously determined movement mode. The conditions associated witha threshold velocity and/or a threshold time before determining a changein the mode may be needed to account for perturbations, sensed noise,cyclic anatomic motion (e.g., respiration and cardiac motion), movementwithin an anatomy, and/or other movement caused by environmentaldisplacement and/or combinations thereof. In some embodiments, theparking mode is optional with the mode of operation being limited to theretraction mode and insertion mode.

If there is a change in mode determined at process 710, the method maybe repeated starting at process 704. If there is no change in mode, themethod may be repeated starting at process 706.

As discussed above and further emphasized here, FIG. 6 is one examplewhich should not unduly limit the scope of the claims. One of ordinaryskill in the art would recognize many variations, alternatives, andmodifications. In some embodiments, during a transition from a firstmode to a second mode, the rigidity profile of the first mode maycontinue as if no change in mode occurred. In some examples, during atransition from the insertion mode to the parking mode, the rigidity maycontinue to be increased according to the rigidity profile of theinsertion mode as if insertion is continuing without interruption. Insome examples, during a transition from the parking mode to theinsertion mode, the rigidity may continue to be increased according tothe rigidity profile of the parking mode as if parking is continuingwithout interruption. In some examples, during a transition from theretraction mode to the parking mode, the rigidity may continue to bedecreased according to the rigidity profile of the retraction mode as ifretraction is continuing without interruption. In some examples, duringa transition from the parking mode to the retraction mode, the rigiditymay continue to be decreased according to the rigidity profile of theparking mode as if parking is continuing without interruption.

In some embodiments, one or more of the processes 702-710 of method 700may be implemented, at least in part, in the form of executable codestored on non-transient, tangible, machine-readable media that when runby one or more processors (e.g., control system 112) may cause the oneor more processors to perform one or more of the processes 702-710.Additionally, one or more elements in embodiments and examples may beimplemented in software to execute on the one or more processors. Whenimplemented in software, the elements of the embodiments are essentiallythe code segments to perform the necessary tasks. The program or codesegments can be stored in a non-transitory, processor-readable storagemedium or device, including any medium that can store informationincluding an optical medium, semiconductor medium, and magnetic medium.Non-transitory, processor-readable storage device examples include anelectronic circuit, a semiconductor device, a semiconductor memorydevice, a read only memory (ROM), a flash memory, an erasableprogrammable read only memory (EPROM), a floppy diskette, a CD-ROM, anoptical disk, a hard disk, or other storage device. The code segmentsmay be downloaded via computer networks such as the Internet, Intranet,etc. As described herein, operations of accessing, detecting,initiating, registered, displaying, receiving, generating, determining,moving data points, segmenting, matching, etc. may be performed at leastin part by control system 112 or one or more processors thereof.

The previously described rigidity profile 600 and/or 650 may implement ascaling factor and/or torque multiplier used to scale a force and/ortorque that is applied by the one or more actuators. FIG. 7 illustratesa rigidity multiplier profile 800 applied during an exemplaryapplication of method of retraction over a retraction distance 802 andover a retraction distance 804. In some examples, a multiplier m may berepresentative of a scaling factor and/or torque multiplier used toscale a force and/or torque applied by the one or more actuators duringprocesses 708 to adjust the rigidity of the flexible elongateinstrument. Rigidity multiplier profile 800 is a graphicalrepresentation of a possible variation of the multiplier m, illustratedby curve 810 according to retraction distance, designated by d. Timest₀-t₇ show the relationships between retraction distances d₀-d_(final)and multiplier m over time. In some examples, the multiplier m may rangefrom a value m₁ of 1.0 or near 1.0 at which the flexible instrument isrelatively rigid to a value m₂ of zero or near zero at which theflexible instrument is relatively slack. In some examples, the torque isa function of the multiplier and the maximum torque, τ_(max) that may beapplied by the actuator, illustrated by Equation 1. In some examples,the torque determined by Equation 1 may be applied by the respectivecontrollers either as an actual torque to be applied by the respectiveactuators or as a maximum torque limit to be applied on the respectiveactuators.

τ=τ_(max) ×m(d,t)  (1)

In some examples, when the forces are being scaled, τ and τ_(max) arereplaced by f and f_(max), accordingly; with an actual force or maximumforce limit being set.

In FIG. 7, at an initial position d₀, the flexible instrument has beeninserted into an anatomic passageway and placed in a park mode with amultiplier set at m₁. In one example, the flexible instrument may beinserted 100 mm into the anatomic passageways when parked. The flexibleinstrument then enters a retraction mode. In the initial stage of theretraction mode, the flexible instrument moves from the initial positiond₀ and a retracted distance d₁ while the multiplier remains unchanged orapproximately unchanged at or near the value m₁. In one example, theextent of the flexible instrument retraction between d₀ and d₁ may beapproximately 5 mm. The distance between d₀ and d₁ may be traversed overa time period between t₀ and t₁. After the flexible instrument has beenretracted a distance d₁, the multiplier m begins to reduce. Over aretraction distance between d₁ and d₂, the multiplier m is reduced fromthe value m₁ (e.g., relatively rigid) to the value m₂ (e.g., relativelyslack). The distance between d₁ and d₂ may be traversed over a timeperiod between t₁ and t₂. In this example, the extent of the flexibleinstrument retraction may be approximately 10 mm between d₁ and d₂. Asthe flexible instrument continues to retract from distance d₂ to d₃, themultiplier value remains at m₂. In one example, the flexible instrumentmay retract approximately 35 mm between d₂ and d₃. The distance betweend₂ and d₃ may be traversed over a time period between t₂ and t₃.

At the distance d₃, the flexible instrument exits the retraction modeand enters a park mode. In the park mode, the flexible instrumentremains at the distance d₃ for a time period between t₃ and t₄. In thisexample, while in the park mode, the multiplier value ramps up to m₁(e.g., relatively rigid). This transition from multiplier value m₂ to m₁may occur abruptly over a short period of time or may follow a moregradual transition profile based on elapsed time.

At time t₄, the flexible instrument exits the park mode and enters theretraction mode again. In the initial stage of the second retractionmode, the flexible instrument moves from the parked distance d₃ to aretracted distance d₄ while the multiplier remains unchanged orapproximately unchanged at or near the value m₁. In this example, theflexible instrument may retract approximately 5 mm between d₃ and d₄.The distance between d₃ and d₄ may be traversed over a time periodbetween t₄ and t₅. After the flexible instrument has been retracted adistance d₄, the multiplier m begins to reduce. Over a retractiondistance between d₄ and d₅, the multiplier m is again reduced from thevalue m₁ (e.g., relatively rigid) to the value m₂ (e.g., relativelyslack). The distance between d₄ and d₅ may be traversed over a timeperiod between t₅ and t₆. In one example, the flexible instrument mayretract approximately 10 mm between d₄ and d₅. As the flexibleinstrument continues to retract from distance d₅ to d_(final) where theflexible instrument is fully retracted from the patient anatomy, themultiplier value remains at m₂. In one example, the flexible instrumentmay retract approximately 35 mm between d₂ and d₃. The distance betweend₅ and d_(final) may be traversed over a time period between t₆ and t₇.

In a drive movement mode such as insertion or retraction, varioussub-modes of the control system may be selected to alter the rigidity ofthe flexible body based on a sub-mode specific rigidity profile.

One example of a sub-mode of a drive movement mode is a full passivesub-mode. The full passive sub-mode may be operator-selected using forexample, an identifying input to the control device at the masterassembly 106 (e.g. a double or multiple tap of a “passive” buttonlocated on the control device), a voice command, or an anatomicalgesture command. FIG. 8 illustrates a rigidity profile 900 that may beused in the full passive sub-mode. According to the rigidity profile900, the rigidity of the flexible body is reduced as the actuator torqueis reduced from an operating torque 905 to a torque of approximatelyzero over the time period between the time of the operator input (t=0)and a predetermined time (t=t₂). In this embodiment, the rigidityprofile 900 is linear but in alternative embodiments, the rigidityprofile in full passive sub-mode may be non-linear. The full passivesub-mode may be suitable for use when the procedure is complete, and theoperator is retracting the flexible body from the patient anatomy usingthe master assembly. Alternatively the full passive sub-mode may besuitable when the flexible catheter is positioned within a tight bend inan anatomic passageway, and the operator would like to relieve rigidityin the flexible catheter (and therefore the anatomic passageway) to, forexample, allow passage of a biopsy needle. The control system may remainin the full passive sub-mode until the operator selects a different modeor until another predefined condition occurs.

Another example of a sub-mode of a drive movement mode is a slow passivesub-mode. The slow passive sub-mode may be operator-selected using forexample, an identifying input to the control device at the masterassembly 106 (e.g. holding down the “passive” button located on thecontrol device for the duration of the slow passive sub-mode), a voicecommand, or an anatomical gesture command. FIG. 8 illustrates a rigidityprofile 910 that may be used in the slow passive sub-mode. According tothe rigidity profile 910, the rigidity of the flexible body is reducedas the actuator torque is reduced from an operating torque 905 to atorque of approximately zero over the time period between the time ofthe operator input (t=0) and a predetermined time (t=t₃). As compared tothe full passive rigidity profile 910, the slow passive rigidity profilereduces torque at a slower rate. In this embodiment, the rigidityprofile 910 is linear but in alternative embodiments, the rigidityprofile in full passive sub-mode may be non-linear. FIG. 9 illustratessuch a non-linear profile 950. According to the rigidity profile 950,the rigidity of the flexible body is reduced as the actuator torquedrops quickly between an initial interval (t₀-t₁). The actuator torqueis relatively stable between an interval (t₁-t₂) and drops quickly to atorque of approximately zero over an interval (t₂-t₃). The slow passivesub-mode may be suitable for use when the operator makes slightadjustments to the flexible body position in the patient anatomy wherethe short incremental distances moved by the flexible body are too smallto effectively reduce the actuator torque under a normal drive movementmode such as insertion or retraction. At time t₂, enough time haselapsed that it may be likely that the operator intends to withdraw theflexible body from the patient anatomy or make significant withdrawalmovements. Thus from t₂ to t₃ the reduction in torque can be rapid. Thecontrol system may remain in the slow passive sub-mode until, forexample, the operator releases the passive button. When the passivebutton is released, the control system may return to the previous modeof operation by ramping up torque to a previous torque level or to theoperating torque level using a linear or non-linear ramp up profile.

Another example of a sub-mode of a drive movement mode is an insertionclutch sub-mode. The insertion clutch sub-mode may be operator-selectedusing for example, an identifying input to a clutch input located on acarriage of the manipulator assembly 102 (e.g. the operator may depressand hold down a clutch input button or may double or multiple tap theclutch input button) or on another component of the system 100.Alternatively another type of user input including a voice command or ananatomical gesture command. FIG. 8 illustrates a rigidity profile 920that may be used in the insertion clutch sub-mode. According to therigidity profile 920, the rigidity of the flexible body is reducedimmediately as the actuator torque is reduced from an operating torqueto a torque of approximately zero over an instantaneous or relativelyshort time period at the time of the operator input (t=t₁). In thisembodiment, the rigidity profile 920 is linear but in alternativeembodiments, the rigidity profile in insertion clutch sub-mode may benon-linear over a relatively short time period. In this sub-mode, themaster assembly 106 may not accept user commands to control themanipulator or an attached instrument, and the actuators that providemotion along an insertion path may be disabled. The insertion clutchsub-mode may be suitable for use when the operator wants to quicklyremove the flexible body from the patient anatomy in an emergencysituation or for another clinical purpose. In the insertion clutchsub-mode, the operator may manually retract the flexible body by movingan insertion stage of the manipulator assembly 102 to which theinstrument 104 is coupled. The control system may remain in theinsertion clutch sub-mode until the operator releases the clutch inputbutton or another release condition is met.

Another example of a sub-mode of a drive movement mode is anauto-passive sub-mode. The auto-passive passive sub-mode may beoperator-selected using for example, an identifying input to the controldevice at the master assembly 106 (e.g. a single tap of a “passive”button located on the control device), a voice command, or an anatomicalgesture command. FIG. 10 illustrates a rigidity profile 960 that may beused in the auto-passive sub-mode. According to the rigidity profile960, the rigidity of the flexible body is reduced as the actuator torqueis reduced from an operating torque 905 to a torque of approximatelyzero based on an input magnitude. The input magnitude may be a measureof size or speed of the operator input at the control device of themaster assembly 106 correlating to a measure of desired distance theflexible body is commanded to be moved. For example, if the controldevice is a scroll wheel on the master assembly 106, small retractionson the scroll wheel are considered a small input magnitude in theauto-passive sub-mode correlating with a short commanded movementdistance, and large retractions on the scroll wheel are considered alarge input magnitude in the auto-passive sub-mode correlating with alarge commanded movement distance. With the rigidity profile 960, smallinput magnitudes cause the flexible body to remain under active control,at the operating torque 905. This allows an operator to perform fineadjustments in position without losing the orientation of the distal endof the flexible body. With the rigidity profile 960, large inputmagnitudes cause the actuator torque to become reduced from an operatingtorque to a torque of approximately zero. This allows the operator tomove the flexible body large distances or remove the flexible body fromthe patient anatomy with little or no rigidity. In this embodiment, therigidity profile 960 is linear but in alternative embodiments, therigidity profile in auto-passive sub-mode may be non-linear. The controlsystem may remain in the auto-passive sub-mode during a particularmovement mode (e.g. retraction), but when the operator changes movementmodes (e.g., returns to active insertion), the control system switchesout of the auto-passive sub-mode and the actuator torque returns to theoperating torque 905 gradually or according to a configurable linear ornon-linear transition profile. Alternatively, exiting the auto-passivesub-mode may be accomplished by another type of user input such as aswitch.

Note that the processes and displays presented may not inherently berelated to any particular computer or other apparatus. The requiredstructure for a variety of these systems will appear as elements in theclaims. In addition, the embodiments are not described with reference toany particular programming language. It will be appreciated that avariety of programming languages may be used to implement the teachingsof the invention as described herein.

While certain exemplary embodiments of the invention have been describedand shown in the accompanying drawings, it is to be understood that suchembodiments are merely illustrative of and not restrictive on the broadinvention, and that the embodiments of the invention not be limited tothe specific constructions and arrangements shown and described, sincevarious other modifications may occur to those ordinarily skilled in theart.

1-48. (canceled)
 49. A medical system, comprising: a flexible elongateinstrument comprising a plurality of wires useable to controlarticulation of the flexible elongate instrument; and a control systemconfigured to: monitor movement of the flexible elongate instrument;determine an extent of motion of the flexible elongate instrument basedon the monitoring; determine a mode of operation for the flexibleelongate instrument from a plurality of modes of operation based on themonitoring, the plurality of modes of operation including a retractionmode, an insertion mode, and a parking mode; and in response to a changein the mode of operation, alter a rigidity of the flexible elongateinstrument with a rate of rigidity change that is based on the extent ofmotion using one or more of the plurality of wires.
 50. The medicalsystem of claim 49, wherein: the rate of rigidity change is non-linearwith respect to the extent of motion; and the extent of motion is atleast one of a velocity of the movement, an elapsed time of themovement, or a distance traveled of the movement.
 51. The medical systemof claim 49, wherein the control system is configured to determine thechange in the mode of operation to one of the retraction mode or theinsertion mode based on a velocity of the movement satisfying athreshold value.
 52. The medical system of claim 51, wherein the extentof motion includes an elapsed time of the movement.
 53. The medicalsystem of claim 51, wherein the extent of motion includes a distancetraveled of the movement.
 54. The medical system of claim 49, whereinthe control system is configured to determine the change in the mode ofoperation to one of the retraction mode or the insertion mode based on adistance traveled of the movement exceeding a threshold value.
 55. Themedical system of claim 54, wherein the extent of motion includes anelapsed time of the movement.
 56. The medical system of claim 54,wherein the extent of motion includes the distance traveled of themovement.
 57. The medical system of claim 49, wherein the control systemis configured to decrease the rigidity of the flexible elongateinstrument in response to the mode of operation changing to theretraction mode.
 58. The medical system of claim 49, wherein the controlsystem is configured to increase the rigidity of the flexible elongateinstrument in response to the mode of operation changing to one of theinsertion mode or the parking mode.
 59. The medical system of claim 49,wherein the control system is configured to determine the change in themode of operation from the parking mode based on a velocity of themovement exceeding a threshold value.
 60. The medical system of claim49, wherein the control system is configured to determine the change inthe mode of operation to the parking mode based on a velocity of themovement failing to exceed a threshold value.
 61. The medical system ofclaim 49, wherein the control system is configured to alter the rigidityof the flexible elongate instrument with a higher rate of rigiditychange in the parking mode than in the insertion mode or the retractionmode.
 62. The medical system of claim 49, wherein the control system isconfigured to: determine whether a velocity of the movement in aretraction direction exceeds a first threshold value; in response to thevelocity exceeding the first threshold value, decrease the rigidity ofthe flexible elongate instrument based on an elapsed time of themovement; and in response to the velocity failing to exceed the firstthreshold value and a distance traveled of the movement exceeding asecond threshold value, decrease the rigidity of the flexible elongateinstrument based on the elapsed time of the movement.
 63. A method ofcontrolling a medical system with a control system, comprising:monitoring movement of a flexible elongate instrument comprising aplurality of wires useable to control articulation of the flexibleelongate instrument; determining an extent of motion of the flexibleelongate instrument based on the monitoring; determining a mode ofoperation for the flexible elongate instrument from a plurality of modesof operation based on the monitoring, the plurality of modes ofoperation including a retraction mode, an insertion mode, and a parkingmode; and in response to a change in the mode of operation, altering arigidity of the flexible elongate instrument with a rate of rigiditychange that is based on the extent of motion using one or more of theplurality of wires.
 64. The method of claim 63, wherein: the rate ofrigidity change is non-linear with respect to the extent of motion; andthe extent of motion is at least one of a velocity of the movement, anelapsed time of the movement, or a distance traveled of the movement.65. The method of claim 63, wherein determining the change in the modeof operation to one of the retraction mode or the insertion mode isbased on a velocity of the movement satisfying a threshold value. 66.The method of claim 63, wherein determining the change in the mode ofoperation to one of the retraction mode or the insertion mode is basedon a distance traveled of the movement exceeding a threshold value. 67.The method of claim 63, further comprising: determining whether avelocity of the movement in a retraction direction exceeds a firstthreshold value; in response to the velocity exceeding the firstthreshold value, decreasing the rigidity of the flexible elongateinstrument based on an elapsed time of the movement; and in response tothe velocity failing to exceed the first threshold value and a distancetraveled of the movement exceeding a second threshold value, decreasingthe rigidity of the flexible elongate instrument based on the elapsedtime of the movement.
 68. A non-transitory machine-readable mediumcomprising machine-readable instructions which, when executed by one ormore processors of a control system, cause the one or more processors toperform: monitoring movement of a flexible elongate instrumentcomprising a plurality of wires useable to control articulation of theflexible elongate instrument; determining an extent of motion of theflexible elongate instrument based on the monitoring; determining a modeof operation for the flexible elongate instrument from a plurality ofmodes of operation based on the monitoring, the plurality of modes ofoperation including a retraction mode, an insertion mode, and a parkingmode; and in response to a change in the mode of operation, altering arigidity of the flexible elongate instrument with a rate of rigiditychange that is based on the extent of motion using one or more of theplurality of wires.